Author : Juan Carlos Hernandez Ramirez
Publisher :
ISBN 13 :
Total Pages : 0 pages
Book Rating : 4.:/5 (134 download)
Book Synopsis Autonomous and Semi-autonomous Control of Agile Fixed-wing Unmanned Aerial Vehicles by : Juan Carlos Hernandez Ramirez
Download or read book Autonomous and Semi-autonomous Control of Agile Fixed-wing Unmanned Aerial Vehicles written by Juan Carlos Hernandez Ramirez and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt: "Unmanned aerial vehicles (UAVs) have been increasingly employed for a wide range of civilian applications, including scientific and commercial endeavours. Striving for versatility, novel UAV designs have been proposed which incorporate features from different aircraft categories. The agile fixed-wing UAV is one such platform, which combines the fast andefficient flight of conventional fixed-wing aircraft with the highly maneuverable hovering capabilities of rotorcraft. These aircraft have enormous potential but are challenging to operate, demonstrating the need for control systems capable of harnessing their maneuvering capabilities. The objective of this thesis is to develop a comprehensive control strategy for the agile fixed-wing UAV, considering both autonomous, and pilot-assist, semi-autonomous operation. The thesis begins by introducing the fixed-wing UAV model, including previously developed aerodynamic and slipstream models needed for controller design and verification. Controllerdesign begins in the next chapter, where the core attitude control system is developed. We propose several geometric control strategies which are then evaluated through simulations and experiments. The next chapter presents a nonlinear control strategy to enable UAV velocity and position control. This is a unified control architecture, where a single controller is valid for steady and hover flight regimes. Rigorous stability analysis, together with simulations and experimental flights demonstrate the capabilities of the proposed system. The following chapter, we propose an additional control loop to enable path-following functionality, allowing us to prioritize the task of reaching and following spatial paths. As part of this system, a novel moving path frame is developed, specifically tailored for the task of motion control in three-dimensional space. Finally, a reference generator capable of translating limited pilot inputs into time-parametrized trajectories or spatial paths is developed. This system is then integrated with the control systems to achieve a semi-autonomous control solution. As demonstrated through experimental flights, the proposed system enables a human pilot to safely operate the aircraft inany regime without sacrificing its maneuverability"--